6. Select the mapping ‘1st Receive PDO mapping’ and click at [Edit]. Perform the fol-
lowing settings:
Outputs: 1st Receive PDO 0x1600
n General
– Name: 1st Receive PDO mapping
– Index: 0x1600
n Flags
– Everything de-activated
n Direction
– RxPdo (Output): activated
n Exclude
Please note these settings, otherwise the PDO mappings can not be activated
at the same time!
– 1601: de-activated
– 1602: de-activated
– 1603: de-activated
n Entries
Name Index Bit length
Control word 0x6040:00 16bit
Target position 0x607A:00 32bit
Target velocity 0x60FF:00 32bit
Modes of operation 0x6060:00 8bit
--- --- 8bit
Touch probe function 0x60B8:00 16bit
Close the dialog ‘Edit PDO’ with [OK].
7. Select the mapping ‘2nd ReceivePDO mapping’ and click at [Edit]. Perform the fol-
lowing settings:
Outputs: 2nd Receive PDO 0x1601
n General
– Name: 2nd Receive PDO mapping
– Index: 0x1601
n Flags
– Everything de-activated
n Direction
– RxPdo (Output): activated
n Exclude
Please note these settings, otherwise the PDO mappings can not be activated
at the same time!
– 1600: de-activated
– 1602: activated
– 1603: activated
n Entries
– Profile velocity: 0x6081:00 à 32 Bit
– Profile acceleration: 0x6083:00 à 32 Bit
– Profile deceleration: 0x6084:00 à 32 Bit
Close the dialog ‘Edit PDO’ with [OK].
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-5 EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 297
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